version: 66.14
glider: 195
mission: 15
dive: 478
start: 2 18 118 14 9 55
data:
$ID,195
$MISSION,15
$DIVE,478
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59282
$MASS_COMP,3973.1001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2812
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,1843
$C_ROLL_CLIMB,1843
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2247
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.356163
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043781498
$SEABIRD_T_H,0.00063190429
$SEABIRD_T_I,2.5428115e-05
$SEABIRD_T_J,2.9111013e-06
$SEABIRD_C_G,-9.7135391
$SEABIRD_C_H,1.1137754
$SEABIRD_C_I,-0.0016462026
$SEABIRD_C_J,0.00020008108
$SEABIRD_C_Z,2957.3201
$GPS1,180218,140516,4738.1704,-12253.3701,8,0.8,16,16.3,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.9
$GPS2,180218,140913,4738.1890,-12253.3506,5,0.8,19,16.3,0.2,36.8,10,4.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SE1
$TGT_LATLONG,4738.423,-12253.212
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.289812,-0.137217
$KALMAN_X,24982.394531,32.228821,-582.533447,-24351.066406,911.770996
$KALMAN_Y,5615.479492,-3.337315,-424.696045,-5543.971191,423.217987
$MHEAD_RNG_PITCHd_Wd,7.9,467,-27.2,-10.000,-30.00,969
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.20,-63.7,164,1847,531,441,0.0,0.0,0,61,0.00,0.00,-49.80,0.000,16386,0.000,0.000,164,1848,1678,1734,1622,0,0,0,0,0,0,26.58,28.83,26.60,8.30,48.22
$GC,64,-1.26,-127.4,164,1848,1734,1622,2.4,-3.3,7,115,8.70,2.28,-34.83,0.000,18692,0.197,0.053,2389,3258,2769,2857,2681,0,0,0,0,0,0,24.75,23.87,24.94,8.41,48.14
$GC,460,-1.15,-127.4,2388,3258,2858,2682,93.9,-22.5,53,465,0.17,2.10,0.00,0.000,3078,0.151,0.028,2439,1840,2770,2858,2682,0,0,0,0,0,0,25.57,26.13,25.73,8.52,48.77
$GC,597,-1.15,-127.4,2439,1840,2857,2682,120.0,-18.7,66,606,0.00,2.15,0.00,0.000,516,0.000,0.041,2440,452,2770,2858,2682,0,0,0,0,0,0,26.65,25.93,26.66,8.52,48.97
$GC,642,-1.15,-127.4,2439,451,2857,2682,129.4,-20.1,70,654,0.00,2.17,0.00,0.000,1030,0.000,0.031,2431,1856,2770,2858,2682,0,0,0,0,0,0,26.14,26.10,26.17,8.53,49.44
$STATE,822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,822,begin apogee
$GC,827,-0.21,0.0,2430,1856,2858,2682,163.4,-19.1,88,933,0.98,0.00,102.53,0.664,10246,0.129,0.000,2739,1855,2247,2370,2124,0,0,0,0,0,0,25.19,24.87,23.96,8.53,49.37
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,937,1.26,127.4,2739,1856,2369,2124,166.8,0.0,99,1054,1.27,2.33,107.80,0.656,10756,0.061,0.040,3212,455,1726,1851,1601,0,0,0,0,0,0,25.37,24.83,23.87,8.49,48.22
$GC,1154,1.14,127.4,3211,454,1850,1596,142.8,22.3,120,1163,0.10,2.17,0.00,0.000,5126,0.151,0.031,3183,1847,1723,1850,1596,0,0,0,0,0,0,25.53,25.90,25.59,8.45,47.91
$GC,1343,1.08,127.4,3183,1847,1850,1594,103.4,21.2,139,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1847,1721,1850,1593,0,0,0,0,0,0,26.58,26.59,26.58,8.45,49.44
$GC,1532,1.03,127.4,3182,1847,1850,1592,64.8,19.8,158,1534,0.12,0.00,0.00,0.000,4102,0.159,0.000,3146,1847,1721,1850,1592,0,0,0,0,0,0,25.99,26.12,26.07,8.45,48.62
$GC,1652,1.03,127.4,3145,1847,1850,1591,44.8,15.8,170,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1847,1720,1850,1591,0,0,0,0,0,0,26.66,26.67,26.67,8.44,48.89
$GC,1773,1.03,127.4,3145,1847,1850,1591,27.9,13.3,182,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1847,1720,1850,1591,0,0,0,0,0,0,26.67,26.68,26.68,8.43,48.66
$GC,1894,1.07,169.0,3145,1847,1850,1591,16.8,5.6,198,1923,0.00,2.22,21.52,0.508,8708,0.000,0.040,3153,451,1556,1674,1439,0,0,0,0,0,0,26.67,24.90,24.44,8.43,48.50
$GC,2079,1.07,169.0,3153,450,1672,1437,4.7,9.1,232,2088,0.00,2.15,0.00,0.000,1030,0.000,0.031,3153,1844,1554,1672,1437,0,0,0,0,0,0,26.15,26.11,26.17,8.41,49.09
$STATE,2098,end climb,SURFACE_DEPTH_REACHED
$STATE,2098,begin surface coast
$FINISH,0.4,1.006544
$STATE,2135,end surface coast,CONTROL_FINISHED_OK
$STATE,2135,begin surface
$SM_CCo,2152,121.50,0.053,0,0,532,420.20
$SM_GC,1.55,7.70,0.00,121.50,0.030,0.000,0.053,177,1846,532,-8.07,0.08,420.20,0,0,0,0,0,0,26.22,26.64,25.83
$IRIDIUM_FIX,4738.72,-12249.11,180218,132522
$TT8_MAMPS,0.026964,0.264397
$HUMID,46.85
$INTERNAL_PRESSURE,8.26332
$TCM_TEMP,8.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,146.6,25.7
$24V_AH,23.87,89.941
$10V_AH,9.83,61.175
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.050,17.575,231.850,121.500,0.000,0.000,0.000,157.800,3.000,0.000,20.631,631.545,642.407,388.385,804.074,81.993,0.000,863.142,0.000,483.810,0.000,21.534,0.000
$DEVICE_MAMPS,197.370,52.785,664.020,52.785,0.000,0.000,0.000,74.970,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,0.000,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.049,521.132,316.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,105.000,11.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,17675,242
$CAP_FILE_SIZE,39006,0
$CFSIZE,2097872896,2047705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,88.17,1
$GPS,180218,144853,4738.340,-12253.106,8,0.8,22,16.3,0.0,0.0,10,4.8